🐛 Add support for additional detection function versions in horizontal line alignment. Implement version checks for functions 3 and 4, and handle errors for unspecified detection versions. Improve code clarity and maintainability.

base_move/move_base_hori_line.py

@@ -144,6 +144,23 @@ def align_to_horizontal_line(ctrl, msg, observe=False, max_attempts=3, detect_fu
                 delay=1000 if observe else 0,
                 save_log=True
             )
+        elif detect_func_version == 3:
+            edge_point_after, edge_info_after = detect_horizontal_track_edge_v3(
+                ctrl.image_processor.get_current_image(), 
+                observe=observe, 
+                delay=1000 if observe else 0,
+                save_log=True
+            )
+        elif detect_func_version == 4:
+            edge_point_after, edge_info_after = detect_furthest_horizontal_intersection(
+                ctrl.image_processor.get_current_image(), 
+                observe=observe, 
+                delay=1000 if observe else 0,
+                save_log=True
+            )
+        else:
+            error("未指定检测版本，请检查参数", "失败")
+            return False
         
         if edge_info_after and "slope" in edge_info_after:
             current_slope = edge_info_after["slope"]
@@ -187,6 +204,7 @@ def align_to_horizontal_line(ctrl, msg, observe=False, max_attempts=3, detect_fu
     
     return aligned
 
+
 def calculate_distance_to_line(edge_info, camera_height, camera_tilt_angle_deg=0, observe=False):
     """
     根据相机参数和图像中横线位置计算相机到横线的实际距离